CANopen
• 89
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
d:
data
e = 0, s = 0: d is reserved for further use of CiA
e = 0, s = 1: d contains the number of bytes for
download
Byte 4 contains the LSB and Byte 7 contains the
MSB.
e = 1: d contains the data
X:
Not used, always 0
reserved:
Reserved for further use of CiA
4.3.1.2.1.3.2
Upload SDO Segment
This protocol is used if more than 4 data is transmitted, i.e. this follows after
fully processing the „Initiate Upload Protocol" which initiates the data trans-
missions.
Client
Client
Upload SDO Segment
Upload SDO Segment
reserved
Segment data
ccs = 3
scs = 0
t
t
x
c
x
request
confirm
indication
response
0
0
.0
.0
.7
.7
.6
.6
.5
.5
.4
.4
.3
.2
.3
.2
.1
.1
1
1
8
8
Server
Server
Fig. 4-7: Upload SDO Segment
g012411x
ccs:
Client command specifier
3: download segment request
scs:
Server command specifier
0: download segment response
t:
Toggle bit
This bit has to change for each segment for
which an upload is made. The toggle bit has to
be zeroed for the first segment. The toggle bit is
identical both for the enquiry and the reply.
c:
Indicates whether further
segments are present for the
upload
0: there are more segments to be uploaded
1:there are no more segments for uploading
